Selecting the Settings symbol in the top left corner of the main screen, opens the Settings menu. Browsing through the categories to the left, you can adjust many aspects of robot behaviour.
Robot velocity
| Parameters | Description |
|
Manual velocity |
Velocity while driving in manual mode, i.e. Joystick velocity. |
| Drive velocity | Velocity while driving to waypoints in automatic mode. |
| Spray velocity | Velocity while spraying lines. It is not recommended to use values indicated with red, as this will make the TinySurveyor's driving unstable. |
Marking lines and points
TinySurveyor does driving in automatic mode in two ways, depending on whether the task is a point or a line. Understanding the behavior when driving to lines and points will help better prepare and perform jobs.
Line parameters
When driving lines, TinySurveyor will drive in a straight line towards the starting point of the line. The starting point will be a given distance to the actual line, this allows TinySurveyor to steer itself into the line more precisely.
Parameters affecting the behavior when driving along lines:
| Parameters | Description |
| Line length | Length of the marked dashes, when the TinySurveyor is marking lines. |
| Line space | Length of the space between the marked dashes when the robot is marking lines. |
| Paint ramp up | Distance the robot uses to start correctly on a line. The longer the ramp up, the better start on lines. |
|
Paint ramp down
|
Distance the robot drives after the line ends. This distance allows the robot to de-accelerate after the line instead of on the line. |
Point parameters
When driving to a point, TinySurveyor will drive in a straight line towards the first point in the job list. When approaching a point, the robot will slow down to make sure the spray tool hits the point in the job list.
Robot geometry
| Parameters | Description |
| Antenna height | Height of the GNSS Antenna relative to the ground. This value is used for tilt compensation. |
| Tool height | Height of the tool position relative to the ground. Set to O when using the spray tool. When doing height measurements with a prism, the tool height should be the prism height relative to the ground. This value is used for tilt compensation. |
| Tool side | Position of the tool. Default is Center, but with a side shift mount it should be Left or Right. |
| Tool side shift | Length of which the tool is side shifted. This value is not used when the tool side is Center. |
| Caster front | Choose the driving direction of the robot. Default is Caster front Yes. |
Calibration
For further information on adjusting the calibration, click here.
| Parameters | Description |
| Tool calibration x |
Adjustment of mechanical tolerance of the spray tool in the x direction. Robot driving direction. Factory calibration performed by TinyMobileRobots. |
| Tool calibration y | Adjustment of mechanical tolerance of the spray tool in the y- direction. Robot sidewards direction. Factory calibration performed by TinyMobileRobots. |
| Linepaint spray offset start | Adjust when the spray tool should begin to activate. This will account for the delay in the spray tool system, to make the TinySurveyor start marking at the beginning of the line. Factory calibration performed by TinyMobileRobots. |
| Linepaint spray offset stop | Adjust when the spray tool should stop activating. This will account for the delay in the spray tool system, to make the TinySurveyor stop marking at the end of the line. Factory calibration performed by TinyMobileRobots. |
| Position time offset | Size of the time delay, from external equipment measures position to when the robot receives it. Bluetooth communication often introduces noticeable time delays. Different equipment may have different Position time offset. |
Advanced
| Parameters | Description |
| Baud rate | Related to RS232 communication from external equipment (GNSS receiver or equipment controller). Set baud rate value to correspond with the external equipment. |
| Min. position frequency | Threshold for the minimum number of position inputs per second that the TinySurveyor will accept. When position frequency is below minimum, it will throw an error, e.g.: Low CNSS rate Recommended threshold value is 7.5 Hz for optimal precision. |
| Position freq. estimation window (sec) | To allow the robot to drive behind narrow columns (i.e. without new position input), the position freq. estimation window can be increased. Default value is 1 sec. |
| Auto resume on error | Choose whether the TinySurveyor should automatically resume its current task after being interrupted by an error. |
| Turn restrict | In automatic mode, set the robot to only turn left or right when pivoting around it self. |